version: 66.02
glider: 106
mission: 9
dive: 41
start: 11 16 107 15 36 26
data:
$ID,106
$MISSION,9
$DIVE,41
$D_SURF,2
$D_FLARE,2
$D_TGT,100
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,36
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51736
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,0
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.75
$TGT_DEFAULT_LON,-117.48
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-55418.797
$T_RSLEEP,8
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,460
$PITCH_MAX,3783
$C_PITCH,3135
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,156
$ROLL_MAX,3859
$C_ROLL_DIVE,2125
$C_ROLL_CLIMB,1735
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,735
$VBD_MAX,3975
$C_VBD,3218
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,71.400002
$AH0_10V,61.200001
$PRESSURE_YINT,-9.2469263
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,3
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043539782
$SEABIRD_T_H,0.00064512313
$SEABIRD_T_I,2.5114456e-05
$SEABIRD_T_J,2.5805668e-06
$SEABIRD_C_G,-9.960248
$SEABIRD_C_H,1.1215916
$SEABIRD_C_I,-0.00087542483
$SEABIRD_C_J,0.00015764491
$GPS1,152759,3246.264,-11749.873,11,2.8,30,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-62.2
$GPS2,153535,3246.280,-11749.889,16,2.9,35,13.1
$SPEED_LIMITS,0.160,0.272
$TGT_NAME,H4
$TGT_LATLONG,3246.000,-11750.250
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.206,-0.177
$KALMAN_X,4052.5,-41.0,157.7,-5689.6,130.3
$KALMAN_Y,5361.1,236.8,51.5,-6389.9,95.8
$MHEAD_RNG_PITCHd_Wd,216.2,765,-15.7,-9.259
$D_GRID,100
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.78,-170.4,0.0,0.0,0,100,0.00,0.00,-66.25,0.000,2,0.000,0.000,463,2133,3384
$GC,103,-1.78,-170.4,2.4,-6.5,11,135,14.25,2.65,-11.57,0.000,4,0.199,0.064,2744,716,3916
$GC,240,-1.78,-170.4,19.7,-10.9,32,246,0.00,2.45,0.00,0.000,6,0.000,0.029,2744,2130,3916
$GC,310,-1.78,-170.4,27.4,-11.2,38,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2130,3917
$GC,499,-1.78,-170.4,44.9,-8.7,53,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2130,3918
$GC,689,-1.78,-170.4,59.6,-7.5,68,693,0.00,2.58,0.00,0.000,4,0.000,0.053,2743,717,3919
$GC,722,-1.78,-170.4,62.1,-8.2,70,726,0.00,2.45,0.00,0.000,6,0.000,0.029,2744,2133,3920
$GC,917,-1.78,-170.4,78.0,-8.4,85,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2133,3920
$GC,1107,-1.78,-170.4,94.6,-8.7,100,1111,0.00,2.53,0.00,0.000,4,0.000,0.055,2744,3529,3921
$STATE,1163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1163,begin apogee
$GC,1173,-0.50,0.0,100.2,9.6,104,1312,1.35,0.00,134.32,0.652,6,0.100,0.000,3018,1735,3217
$STATE,1335,end apogee,CONTROL_FINISHED_OK
$STATE,1335,begin climb
$GC,1337,1.78,170.4,106.4,0.0,116,1477,2.22,2.70,130.10,0.634,4,0.050,0.073,3526,337,2522
$GC,1648,1.78,170.4,76.7,12.1,140,1653,0.00,2.45,0.00,0.000,6,0.000,0.031,3526,1737,2521
$GC,1844,1.78,170.4,56.0,10.5,155,1848,0.00,2.67,0.00,0.000,4,0.000,0.071,3526,331,2521
$GC,1897,1.78,170.4,50.8,9.8,158,1903,0.00,2.45,0.00,0.000,6,0.000,0.031,3527,1738,2520
$GC,2092,1.78,170.4,31.9,10.5,174,2096,0.00,2.67,0.00,0.000,4,0.000,0.071,3526,332,2519
$GC,2204,1.78,170.4,19.6,11.3,182,2210,0.00,2.45,0.00,0.000,6,0.000,0.031,3526,1741,2518
$GC,2276,1.83,210.5,13.4,7.8,193,2313,0.00,2.72,29.65,0.623,4,0.000,0.070,3526,336,2358
$STATE,2390,end climb,SURFACE_DEPTH_REACHED
$STATE,2390,begin surface coast
$FINISH,-0.2,1.024278
$STATE,2404,end surface coast,CONTROL_FINISHED_OK
$STATE,2406,begin surface
$SM_CCo,2447,59.22,0.584,0,0,1791,350.04
$SM_GC,0.43,0.00,0.00,59.22,0.000,0.000,0.584,459,2130,1791,-12.31,0.14,350.04
$IRIDIUM_FIX,3233.95,-11754.10,161107,181837
$TT8_MAMPS,0.088972
$HUMID,1832
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,50.8,54.4
$24V_AH,23.3,28.735
$10V_AH,9.9,22.020
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,31.650,37.175,294.075,59.225,0.000,40.534,35.414,190.966,0.500,6.090,3087.910,36.486,372.081,1280.785,419.122,447.396,438.992,33.343,683.119,0.000,395.683,0.000,5.497
$DEVICE_MAMPS,199.420,72.865,651.950,583.687,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,140.653,0.000,0.000,0.000,0.000,0.000,2805.120,3094.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,25.125,51.000
$DATA_FILE_SIZE,6453,213
$CFSIZE,260034560,255426560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161107,161903,3246.258,-11750.056,15,1.5,15,13.1